Refactor keyboard teleop to EEF twist task

[TomCC7]

Problem

Keyboard arm teleop owned robot-derived state: it read coordinator joint state, required FK model and EEF joint configuration, tracked an absolute EEF pose, and published PoseStamped targets. That mixed input-device behavior with coordinator-owned control responsibilities and made manipulator keyboard blueprints carry duplicate FK wiring.

Solution

• Add routed spatial EEF twist support through coordinator_ee_twist_command: TwistStamped and an EEFTwistTask task type.
• Move FK seeding, twist integration, IK solving, safety checks, timeout, and zero-command reset into EEFTwistTask.
• Refactor KeyboardTeleopModule to publish routed TwistStamped intent only and stop on movement-key release.
• Migrate current manipulator keyboard blueprints for xArm, Piper, OpenArm, and A-750 to EEFTwistTask.

Testing

uv run dimos run keyboard-teleop-xarm7

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[greptile-apps]

Greptile Summary

This PR moves keyboard arm teleop onto routed end-effector twist commands. The main changes are:

• Added an EEFTwistTask for twist integration, IK solving, safety checks, timeout handling, and zero-command reset.
• Added coordinator routing for coordinator_ee_twist_command messages.
• Refactored keyboard teleop to publish TwistStamped intent instead of Cartesian pose targets.
• Migrated manipulator keyboard blueprints to the new EEF twist task.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
dimos/control/tasks/eef_twist_task/eef_twist_task.py	Adds the EEF twist task with FK seeding, twist integration, IK solving, finite-value checks, joint-delta checks, timeout handling, and zero-command clearing.
dimos/control/coordinator.py	Adds the EEF twist command input, task-name routing, subscription setup, and cleanup.
dimos/teleop/keyboard/keyboard_teleop_module.py	Changes keyboard teleop into a lightweight TwistStamped publisher for the EEF twist task.
dimos/robot/manipulators/common/blueprints.py	Adds a shared helper for configuring EEF twist tasks from manipulator hardware.

_{Reviews (4): Last reviewed commit: "remove protocol" | Re-trigger Greptile}

[greptile-apps]

Twist Frame Is Ignored

The coordinator uses TwistStamped.frame_id only as the task name, and this integration applies linear and angular values directly in the FK/world pose. Any caller that sends a normal end-effector/body-frame twist will move along world axes after the tool rotates, so a rotated wrist can translate or rotate in a direction different from the commanded EEF-relative motion.

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2398	1	2397	72

View the full list of 1 ❄️ flaky test(s)

dimos.e2e_tests.test_dimsim_spatial_memory::test_go_to_the_bed

Flake rate in main: 19.44% (Passed 58 times, Failed 14 times)

Stack Traces | 552s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x758924f09d00>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x758921f3d4e0>
human_input = <function human_input.<locals>.send_human_input at 0x758921f3d580>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x758923d42db0>
explore_house = <function explore_house.<locals>.explore at 0x758921f3da80>

    @pytest.mark.self_hosted_large
    def test_go_to_the_bed(lcm_spy, start_blueprint, human_input, dim_sim, explore_house) -> None:
        start_blueprint(
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        explore_house()
    
        human_input("go to the bed")
    
>       lcm_spy.wait_until_odom_position(-3.567, -1.332, threshold=2, timeout=180)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x758923d42db0>
explore_house = <function explore_house.<locals>.explore at 0x758921f3da80>
human_input = <function human_input.<locals>.send_human_input at 0x758921f3d580>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x758924f09d00>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x758921f3d4e0>

dimos/e2e_tests/test_dimsim_spatial_memory.py:32: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:182: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x758921f3dc60>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x758924f09d00>
        threshold  = 2
        timeout    = 180
        x          = -3.567
        y          = -1.332
dimos/e2e_tests/lcm_spy.py:168: in wait_for_message_result
    self.wait_until(
        event      = <threading.Event at 0x758923d43fb0: unset>
        fail_message = 'Failed to get to position x=-3.567, y=-1.332'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x758921f3db20>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x758921f3dc60>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x758924f09d00>
        timeout    = 180
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

self = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x758924f09d00>

    def wait_until(
        self,
        *,
        condition: Callable[[], bool],
        timeout: float,
        error_message: str,
        poll_interval: float = 0.1,
    ) -> None:
        start_time = time.time()
        while time.time() - start_time < timeout:
            if condition():
                return
            time.sleep(poll_interval)
>       raise TimeoutError(error_message)
E       TimeoutError: Failed to get to position x=-3.567, y=-1.332

condition  = <bound method Event.is_set of <threading.Event at 0x758923d43fb0: unset>>
error_message = 'Failed to get to position x=-3.567, y=-1.332'
poll_interval = 0.1
self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x758924f09d00>
start_time = 1782935451.6446774
timeout    = 180

dimos/e2e_tests/lcm_spy.py:105: TimeoutError

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